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https://hdl.handle.net/10356/97851
Title: | Localizing a mobile robot with intrinsic noise | Authors: | Picon, F. Thalmann, D. Allen, Brian Foster Dalibard, Sebastien Magnenat-Thalmann, Nadia |
Issue Date: | 2012 | Source: | Allen, B. F., Picon, F., Dalibard, S., Magnenat-Thalmann, N., & Thalmann, D. (2012). Localizing a mobile robot with intrinsic noise. 2012 3DTV-Conference: The True Vision - Capture, Transmission and Display of 3D Video (3DTV-CON). | Conference: | 3DTV-Conference: The True Vision - Capture, Transmission and Display of 3D Video (2012 : Zurich, Switzerland) | Abstract: | Robot localization is a key barrier to providing natural interaction between 3D virtual characters, human users and mobile robots. Knowing where the robot is, relative to a known world-frame, is essential to directed gestures, gazes and expressions between the robot and the other real and virtual participants in a telepresence system. The intrinsic noise of robots is a flexible and robust, yet under-examined, source for localization information. Sounds that likely localize the robot are identified and separated from background noises using a support vector machine. The resulting sound-bearing data is combined with robot odometry using a particle filter. Experiments conducted in a noisy office environment show substantial improvement over odometry alone. | URI: | https://hdl.handle.net/10356/97851 http://hdl.handle.net/10220/12217 |
DOI: | 10.1109/3DTV.2012.6365480 | Rights: | © 2012 IEEE. | Fulltext Permission: | none | Fulltext Availability: | No Fulltext |
Appears in Collections: | IMI Conference Papers |
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